Table 1: Relevant parameters of the image sets used in the experiments.

EnvironmentName Number images Image resolution Distance traversed Environment size

Laboratory 1 Data set 1 858 720 × 720 pixels 85.8 m 1.8 × 1.7 m
Laboratory 2 Data set 2 267 720 × 720 pixels 26.7 m 3.7 × 5.4 m
Corridor Data set 3 416 720 × 720 pixels 41.6 m 1.4 × 7.1 m